Method of flight control in a vertical takeoff and landing aerial vehicle with angled propellers

ABSTRACT

A method of flight control including having a vertical takeoff and landing aerial vehicle that has a plurality of lift propellers disposed on two linear support pieces, and there are two vertical stabilizers disposed at the rear of the two linear support pieces. A rotating shaft of each lift propeller from among the multiple lift propellers outwards forms an angle of 5 degrees to 15 degrees relative to a vertical plane of the aerial vehicle perpendicular to a horizontal plane of the aerial vehicle. The aerial vehicle of the present disclosure improves the heading axis control capacity of the aerial vehicle and reduces the restriction to the design size of the aerial vehicle.

CROSS-REFERENCES

The This application claims domestic priority to, and is a ContinuationApplication of, U.S. patent application Ser. No. 17/396,704, filed onAug. 8, 2021, now pending, which

-   -   a. is a Continuation-In-Part of patent application Ser. No.        16/281,020, filed on Feb. 20, 2019, now abandoned;    -   b. claims foreign priority to China Patent Application No.        202021632738.7, filed on Aug. 7, 2020, DAS code 4FB5; and    -   c. claims foreign priority to China Patent Application No.        202022458456.6, filed on Oct. 29, 2020, DAS code 4F56;        all of which are hereby incorporated by reference in their        entireties.

Although incorporated by reference in their entireties, no arguments ordisclaimers made in the related application apply to this application.Any disclaimer that may have and occurred or might occur during theprosecution of the above-referenced application is hereby expresslyrescinded.

TECHNICAL FIELD

The present disclosure relates to the technical field of unmanned aerialvehicles, and particularly relates to a vertical takeoff and landingunmanned aerial vehicle.

BACKGROUND

An existing vertical takeoff and landing (VTOL) unmanned aerial vehiclehas low heading axis control capacity in a rotor wing flight stage. Inorder to avoid interference with the entire structure of an airframe,the design size of an existing rotor wing arrangement structure isrestrained.

SUMMARY

The present disclosure relates to a vertical takeoff and landingunmanned aerial vehicle to solve the problem that an unmanned aerialvehicle in the existing art has low heading axis control capacity or thedesign size is restrained.

The present disclosure provides a vertical takeoff and landing unmannedaerial vehicle, including:

-   -   a main body;    -   a left main wing and a right main wing which are respectively        engaged with the main body;    -   a left front wing and a right front wing which are respectively        engaged with the main body;    -   a left linear supporting piece arranged on the left main wing;    -   a right linear supporting piece arranged on the right main wing;    -   a first group of multiple lift propellers arranged on the left        linear supporting piece; and    -   a second group of multiple lift propellers arranged on the right        linear supporting piece.

An outwards deflecting included angle less than 90 degrees is providedbetween a rotating shaft of each of the first group of multiple liftpropellers and a plane in a lengthwise direction of the unmanned aerialvehicle. An outwards deflecting included angle less than 90 degrees isprovided between a rotating shaft of each of the second group ofmultiple lift propellers and the plane in the lengthwise direction ofthe unmanned aerial vehicle.

In one embodiment of the present disclosure, the included angles betweenthe rotating shaft of each of the first group of multiple liftpropellers as well as the rotating shaft of each of the second group ofmultiple lift propellers and the plane in the lengthwise direction ofthe unmanned aerial vehicle are 5 degrees to 15 degrees.

In one embodiment of the present disclosure, included angles between twoadjacent lift propellers in the first group of multiple lift propellersand the plane in the lengthwise direction of the unmanned aerial vehicleare different, and

included angles between two adjacent lift propellers in the second groupof multiple lift propellers and the plane in the lengthwise direction ofthe unmanned aerial vehicle are different.

In one embodiment of the present disclosure, an end part of the leftmain wing away from the main body is provided with a left wing tipvertical stabilizer; an end part of the right main wing away from themain body is provided with a right wing tip vertical stabilizer; and theleft wing tip vertical stabilizer and the right wing tip verticalstabilizer are of platy structures parallel to the plane in thelengthwise direction of the unmanned aerial vehicle.

Tops of the left wing tip vertical stabilizer and the right wing tipvertical stabilizer are respectively provided with wing tip liftpropellers.

In one embodiment of the present disclosure, a rotating shaft of eachwing tip lift propeller outwards deflects 5 to 15 degrees relative tothe plane in the lengthwise direction of the unmanned aerial vehicle.

The present disclosure provides a vertical takeoff and landing unmannedaerial vehicle, including:

-   -   a main body;    -   a left main wing and a right main wing which are respectively        engaged with the main body;    -   a left front wing and a right front wing which are respectively        engaged with the main body;    -   a left linear supporting piece arranged on the left main wing;    -   a right linear supporting piece arranged on the right main wing;    -   a first group of multiple lift propeller arranged on the left        linear supporting piece; and    -   a second group of multiple lift propeller arranged on the right        linear supporting piece.

A rotating shaft of each lift propeller from among the first group ofmultiple lift propellers and the second group of multiple liftpropellers outwards forms an angle of 5 degrees to 15 degrees relativeto a vertical plane of the unmanned aerial vehicle perpendicular to ahorizontal plane of the unmanned aerial vehicle.

In one embodiment of the present disclosure, the unmanned aerial vehiclefurther includes a left vertical stabilizer arranged at the rear part ofthe left linear supporting piece and a right vertical stabilizerarranged at the rear part of the right linear supporting piece.

In one embodiment of the present disclosure, the unmanned aerial vehiclefurther includes a left additional lift propeller arranged on a topterminal of the left vertical stabilizer and a right additional liftpropeller arranged on a top terminal of the right vertical stabilizer.

In one embodiment of the present disclosure, a rotating shaft of each ofthe left additional lift propeller and the right additional liftpropeller outwards forms an angle of 5 degrees to 15 degrees relative toa vertical plane of the unmanned aerial vehicle perpendicular to ahorizontal plane of the unmanned aerial vehicle.

In one embodiment of the present disclosure, the rotating shafts of theleft additional lift propeller, the right additional lift propeller, andeach lift propeller from among the first group of multiple liftpropellers and the second group of multiple lift propellers outwardsform angles of 5 degrees to 15 degrees relative to the vertical plane ofthe unmanned aerial vehicle perpendicular to the horizontal plane of theunmanned aerial vehicle.

In one embodiment of the present disclosure, the rotating shafts of theleft additional lift propeller, the right additional lift propeller, andeach lift propeller from among the first group of multiple liftpropellers and the second group of multiple lift propellers outwardsform angles of 8 degrees relative to the vertical plane of the unmannedaerial vehicle perpendicular to the horizontal plane of the unmannedaerial vehicle.

In one embodiment of the present disclosure, the unmanned aerial vehiclefurther includes a detachable cabin attached to a bottom side of themain body.

In one embodiment of the present disclosure, the cabin is a passengercabin.

In one embodiment of the present disclosure, the cabin is a cargo space.

In one embodiment of the present disclosure, the outward angle causeslift force loss of 0.5 to 3%.

In one embodiment of the present disclosure, the outward angle causes ayawing moment to be increased by 8 to 20%.

In one embodiment of the present disclosure, the outward angle causesthe lift force loss of 0.97%.

In one embodiment of the present disclosure, the outward angle causesthe yawing moment to be increased by 13.92%.

In one embodiment of the present disclosure, the left linear supportingpiece is configured to connect the left main wing with the left frontwing.

The present disclosure provides a vertical takeoff and landing unmannedaerial vehicle, including: a main body; a left main wing and a rightmain wing which are respectively engaged with the main body; a leftfront wing and a right front wing which are respectively engaged withthe main body; a left linear supporting piece arranged on the left mainwing; a right linear supporting piece arranged on the right main wing; afirst group of multiple lift propeller arranged on the left linearsupporting piece; and a second group of multiple lift propeller arrangedon the right linear supporting piece. A rotating shaft of each liftpropeller from among the first group of multiple lift propellers and thesecond group of multiple lift propellers outwards forms an angle of 5degrees to 15 degrees relative to a vertical plane of the unmannedaerial vehicle perpendicular to a horizontal plane of the unmannedaerial vehicle. In the vertical takeoff and landing unmanned aerialvehicle provided by the present disclosure, in a way of setting therotating shaft of each of the multiple lift propellers to outward form acertain angle (5 degrees to 15 degrees) relative to the vertical planeof the unmanned aerial vehicle perpendicular to the horizontal plane ofthe unmanned aerial vehicle, the lift propeller rotates to generate ahorizontal component. When rotating speeds of the top lift propellers ofthe left linear supporting piece and the right linear supporting pieceare different, the horizontal components generated by the liftpropellers will increase the yawing moment, so that the heading axiscontrol capacity of the unmanned aerial vehicle is improved, and therestriction to the design size of the unmanned aerial vehicle isreduced.

Although the present specification contains many specific implementationdetails, these details should not be construed as limitations to anydisclosure or the scope of protection claimed, but as a description offeatures of specific realizing modes for specific implementation modes.Certain features described in the present specification in the contextsof different realizing modes can also be implemented in combination inseparate realizing modes. On the contrary, various features described inthe context of separate implementations can also be implemented inmultiple realizing modes individually or in any suitable subcombination.In addition, although features may be described above and below asworking in certain combinations and even initially described as such, insome cases, one or more features from the described/claimed combinationsmay be culled out from the combinations, and the combinationsdescribed/claimed may aim at the subcombinations or changes of thesubcombinations.

Many realizing modes have been described. However, it should beunderstood that various modifications can be made without departing fromthe spirit and scope of the present disclosure. For example, the exampleoperations, methods, or processes described herein may include more orfewer steps than those described. In addition, the steps in theseexample operations, methods, or processes may be performed in differentalternative ways than those described or shown in the figures.

The details of one or more realizing modes of the subject described inthe present disclosure are set forth in the accompanying drawings andthe following description. Other features, aspects, and advantages ofthe subject will become apparent according to the specification,drawings, and claims.

BRIEF DESCRIPTION OF THE DRAWINGS

It should be noted that the drawings may be in a simplified form and maynot be in exact scale. With reference to the disclosure herein, forconvenience and clarity only, with reference to the accompanyingdrawings, directional terms such as top, bottom, left, right, up, down,above, over, below, under, back, front, far end and near end are used.These directional terms should not be construed as limiting the scope ofthe implementation modes in any way.

FIG. 1 a is a top perspective drawing of an implementation mode of avertical takeoff and landing (VTOL) unmanned aerial vehicle systemaccording to one aspect of the implementation mode;

FIG. 1 b is a top perspective drawing of an implementation mode of aVTOL unmanned aerial vehicle system according to one aspect of theimplementation mode;

FIG. 1 c is a front view of an implementation mode of a VTOL unmannedaerial vehicle system according to another aspect of the implementationmode;

FIG. 1 d is a partially enlarged diagram of FIG. 1 c;

FIG. 1 e is a top perspective drawing of an implementation mode of aVTOL unmanned aerial vehicle system according to yet another aspect ofthe implementation mode;

FIG. 2 is a top rear perspective drawing of the unmanned aerial vehiclesystem of FIG. 1 e;

FIG. 3 is a side view of the unmanned aerial vehicle system of FIG. 1 e;

FIG. 4 is a top perspective drawing of another implementation mode of aVTOL unmanned aerial vehicle system having a flight platform and adetachably attached cabin according to one aspect of the implementationmode;

FIG. 5 is a top view of the unmanned aerial vehicle system of FIG. 4according to one aspect of the implementation mode;

FIG. 6 is a front view of the unmanned aerial vehicle system of FIG. 4according to one aspect of the implementation mode;

FIG. 7 is a top perspective drawing of an implementation mode of a VTOLunmanned aerial vehicle system having a flight platform and a detachablyattached passenger cabin according to one aspect of the implementationmode;

FIG. 8 is a front view of the unmanned aerial vehicle system of FIG. 7according to one aspect of the implementation mode;

FIG. 9 is a rear perspective drawing of the unmanned aerial vehiclesystem of FIG. 7 according to one aspect of the implementation mode;

FIG. 10 is a side perspective drawing of the unmanned aerial vehiclesystem of FIG. 7 according to one aspect of the implementation mode,wherein the passenger cabin is separated from the flight platform andlands on the ground;

FIG. 11 is a rear perspective drawing of the implementation mode of FIG.7 according to one aspect of the implementation mode;

FIG. 12 is a rear perspective drawing of another implementation modeaccording to one aspect of the present disclosure;

FIG. 13 is a side bottom perspective drawing of yet anotherimplementation mode of the unmanned aerial vehicle system according toone aspect of the implementation mode;

FIG. 14 is a perspective drawing of one implementation mode of anunmanned aerial vehicle system according to another aspect of theimplementation mode;

FIG. 15 is a close-up view of a surrounding region of FIG. 14 accordingto another aspect of the implementation mode;

FIG. 16 is a side view of one implementation mode of an unmanned aerialvehicle system according to another aspect of the implementation mode;

FIG. 17 is a front view of one implementation mode of an unmanned aerialvehicle system according to another aspect of the implementation mode;

FIG. 18 is a rear view of one implementation mode of an unmanned aerialvehicle system according to another aspect of the implementation mode;

FIG. 19 is a bottom view of one implementation mode of an unmannedaerial vehicle system according to another aspect of the implementationmode;

FIG. 20 is a perspective drawing of another implementation mode of aflight platform according to another aspect of the implementation mode;

FIG. 21 is a side view of another implementation mode of a flightplatform according to another aspect of the implementation mode;

FIG. 22 is a front view of another implementation mode of a flightplatform according to another aspect of the implementation mode;

FIG. 23 is a rear view of another implementation mode of a flightplatform according to another aspect of the implementation mode;

FIG. 24 is a bottom view of another implementation mode of a flightplatform according to another aspect of the implementation mode;

FIG. 25 is a side view of another implementation mode of a passengercabin according to another aspect of the implementation mode;

FIG. 26 is a bottom perspective drawing of another implementation modeof a passenger cabin according to another aspect of the implementationmode;

FIG. 27 is a front view of another implementation mode of a passengercabin according to another aspect of the implementation mode;

FIG. 28 is a rear view of another implementation mode of a passengercabin according to another aspect of the implementation mode;

FIG. 29 is a bottom view of another implementation mode of a passengercabin according to another aspect of the implementation mode;

FIG. 30 is a side view of another implementation mode of a flightplatform attached to a cargo space according to another aspect of theimplementation mode;

FIG. 31 is a perspective drawing of another implementation mode of aflight platform with no propulsion propeller according to another aspectof the implementation mode;

FIG. 32 is a side view of another implementation mode of a passengercabin with a propulsion propeller according to another aspect of theimplementation mode;

FIG. 33 is a perspective drawing of yet another implementation mode of aflight unmanned aerial vehicle system, wherein six floating devices areinflated;

FIG. 34 is a side view of the flight unmanned aerial vehicle system ofFIG. 33 ; and

FIG. 35 is a drawing of configuration of an aileron of an illustratedunmanned aerial vehicle.

When referring to elements marked in the drawings, the same part isindicated by the same reference sign in all drawings of thespecification:

100: unmanned aerial vehicle; 101: flight platform; 102: main body;103A: left linear supporting piece; 103B: right linear supporting piece;104A: left main wing; 104B: right main wing; 105A: left front wing;105B: right front wing; 106A: left vertical stabilizer; 106B: rightvertical stabilizer; 107: propulsion propeller; 107A: left propulsionpropeller; 107B: right propulsion propeller; 108A: first lift propeller;108B: second lift propeller; 108C: third lift propeller; 108D: fourthlift propeller; 108E: fifth lift propeller; 108F: sixth lift propeller;109A: left wing tip propeller; 109B: right wing tip propeller; 110A:left wing tip vertical stabilizer; 110B: right wing tip verticalstabilizer; 111A: left folding leg; 111B: right folding leg; 112A: firstreed blade; 112B: second reed blade; 112C: third reed blade; 112D:fourth reed blade; 116: vertical expander; 117: a center propulsionpropeller; 130: cargo space; 135A: first cabin reed blade; 135B: secondcabin reed blade; 135C: third cabin reed blade; 135D: fourth cabin reedblade; 140: passenger cabin; 145A: cabin leg; 145B: cabin leg; 145C:cabin leg; 145D: cabin leg; 147: cabin attachment lock catch; 148:electric wheel; 149: shell; 150: energy storage cell in flight platform;155: energy storage cell in cabin; 160: floating device; 170A: leftadditional lift propeller; 170B: right additional lift propeller; 180:aileron; 191A: left tail fin; 191B: right tail fin; 192: tractionpropeller.

DETAILED DESCRIPTION OF THE EMBODIMENTS

Now by turning to the detailed description of the followingimplementation modes, different aspects of the various implementationmodes can be better understood, which are presented as illustratedexamples of the implementation modes defined in the claims. It isclearly understood that the implementation modes defined by the claimsmay be broader than the illustrated implementation modes describedbelow.

The words used to describe various implementation modes in the presentspecification should be understood not only to have their common definedmeanings, but also to include special definitions beyond the scope ofcommonly defined meanings in the structures, materials or behaviors inthe present specification. Therefore, if an element can be understood asincluding more than one meaning in the context of the presentspecification, its use in the claims must be understood as beinguniversal to all possible meanings supported by the specification andthe word itself.

The term “unmanned aerial vehicle” is defined as a flight transportationsystem with at least one propeller serving as a propulsion source. Theterm “unmanned aerial vehicle” can include both “manned” and “unmanned”flight transportation systems. A manned unmanned aerial vehicle canrefer to a flight transportation system that carries human passengers,and no human passengers have the right to control the unmanned aerialvehicle. A manned unmanned aerial vehicle can also refer to a flighttransportation system that carries human passengers, and some of thehuman passengers or one human passenger has certain right to control theunmanned aerial vehicle.

As in the background art, an existing vertical takeoff and landing(VTOL) has low heading axis control capacity and restrained structuraldesign size. In order to solve this problem, the present disclosureprovides a vertical takeoff and landing (VTOL) unmanned aerial vehicle,including: a main body; a left main wing and a right main wing which arerespectively engaged with the main body; a left front wing and a rightfront wing which are respectively engaged with the main body; a leftlinear supporting piece arranged on the left main wing; a right linearsupporting piece arranged on the right main wing; a first group ofmultiple lift propellers arranged on the left linear supporting piece;and a second group of multiple lift propellers arranged on the rightlinear supporting piece. A rotating shaft of each lift propeller fromamong the first group of multiple lift propellers and the second groupof multiple lift propellers outwards forms an angle of 5 degrees to 15degrees relative to a vertical plane of the unmanned aerial vehicleperpendicular to a horizontal plane of the unmanned aerial vehicle.

The technical solution of the present disclosure is described in detailbelow in combination with specific accompanying drawings.

FIG. 1 a is a top perspective drawing of an implementation mode of aVTOL unmanned aerial vehicle system according to one aspect of theimplementation mode; FIG. 1 b is a top perspective drawing of animplementation mode of a VTOL unmanned aerial vehicle system accordingto one aspect of the implementation mode; FIG. 1 c is a front view of animplementation mode of a VTOL unmanned aerial vehicle system accordingto another aspect of the implementation mode; FIG. 1 d is a partiallyenlarged diagram of FIG. 1 c ; FIG. 1 e is a top perspective drawing ofan implementation mode of a VTOL unmanned aerial vehicle systemaccording to yet another aspect of the implementation mode; FIG. 2 is atop rear perspective drawing of the unmanned aerial vehicle system ofFIG. 1 e ; FIG. 3 is a side view of the unmanned aerial vehicle systemof FIG. 1 e ; FIG. 4 is a top perspective drawing of anotherimplementation mode of a VTOL unmanned aerial vehicle system having aflight platform and a detachably attached cabin according to one aspectof the implementation mode; FIG. 5 is a top view of the unmanned aerialvehicle system of FIG. 4 according to one aspect of the implementationmode; FIG. 6 is a front view of the unmanned aerial vehicle system ofFIG. 4 according to one aspect of the implementation mode; FIG. 7 is atop perspective drawing of an implementation mode of a VTOL unmannedaerial vehicle system having a flight platform and a detachably attachedpassenger cabin according to one aspect of the implementation mode; FIG.8 is a front view of the unmanned aerial vehicle system of FIG. 7according to one aspect of the implementation mode; FIG. 9 is a rearperspective drawing of the unmanned aerial vehicle system of FIG. 7according to one aspect of the implementation mode; FIG. 10 is a sideperspective drawing of the unmanned aerial vehicle system of FIG. 7according to one aspect of the implementation mode, wherein thepassenger cabin is separated from the flight platform and lands on theground; FIG. 11 is a rear perspective drawing of the implementation modeof FIG. 7 according to one aspect of the implementation mode; FIG. 12 isa rear perspective drawing of another implementation mode according toone aspect of the present disclosure; FIG. 13 is a side bottomperspective drawing of yet another implementation mode of the unmannedaerial vehicle system according to one aspect of the implementationmode; FIG. 14 is a perspective drawing of one implementation mode of anunmanned aerial vehicle system according to another aspect of theimplementation mode; FIG. 15 is a close-up view of a surrounding regionof FIG. 14 according to another aspect of the implementation mode; FIG.16 is a side view of one implementation mode of an unmanned aerialvehicle system according to another aspect of the implementation mode;FIG. 17 is a front view of one implementation mode of an unmanned aerialvehicle system according to another aspect of the implementation mode;FIG. 18 is a rear view of one implementation mode of an unmanned aerialvehicle system according to another aspect of the implementation mode;FIG. 19 is a bottom view of one implementation mode of an unmannedaerial vehicle system according to another aspect of the implementationmode; FIG. 20 is a perspective drawing of another implementation mode ofa flight platform according to another aspect of the implementationmode; FIG. 21 is a side view of another implementation mode of a flightplatform according to another aspect of the implementation mode; FIG. 22is a front view of another implementation mode of a flight platformaccording to another aspect of the implementation mode; FIG. 23 is arear view of another implementation mode of a flight platform accordingto another aspect of the implementation mode; FIG. 24 is a bottom viewof another implementation mode of a flight platform according to anotheraspect of the implementation mode; FIG. 25 is a side view of anotherimplementation mode of a passenger cabin according to another aspect ofthe implementation mode; FIG. 26 is a bottom perspective drawing ofanother implementation mode of a passenger cabin according to anotheraspect of the implementation mode; FIG. 27 is a front view of anotherimplementation mode of a passenger cabin according to another aspect ofthe implementation mode; FIG. 28 is a rear view of anotherimplementation mode of a passenger cabin according to another aspect ofthe implementation mode; FIG. 29 is a bottom view of anotherimplementation mode of a passenger cabin according to another aspect ofthe implementation mode; FIG. 30 is a side view of anotherimplementation mode of a flight platform attached to a cargo spaceaccording to another aspect of the implementation mode; FIG. 31 is aperspective drawing of another implementation mode of a flight platformwith no propulsion propeller according to another aspect of theimplementation mode; FIG. 32 is a side view of another implementationmode of a passenger cabin with a propulsion propeller according toanother aspect of the implementation mode; FIG. 33 is a perspectivedrawing of yet another implementation mode of a flight unmanned aerialvehicle system, wherein six floating devices are inflated; FIG. 34 is aside view of the flight unmanned aerial vehicle system of FIG. 33 ; andFIG. 35 is a drawing of configuration of an aileron of an illustratedunmanned aerial vehicle.

FIG. 1 a generally illustrates a drawing of an implementation mode of anunmanned aerial vehicle system having an inclined lift propeller. Asshown in FIG. 1 a , the unmanned aerial vehicle 100 at least includes: amain body 102; a left main wing 104A and a right main wing 104B whichare respectively engaged with the main body 102; a left front wing 105Aand a right front wing 105B which are respectively engaged with the mainbody 102; a left linear supporting piece 103A arranged on the left mainwing 104A; a right linear supporting piece 103B arranged on the rightmain wing 104B; a first group of multiple lift propeller 108A, 108B,108C arranged on the left linear supporting piece 103A; and a secondgroup of multiple lift propellers 108D, 108E, 108F arranged on the rightlinear supporting piece 103B.

As shown in FIG. 1 a , an outwards deflecting included angle less than90 degrees is provided between a rotating shaft of each of the firstgroup of multiple lift propellers and a plane in a lengthwise directionof the unmanned aerial vehicle 100. Those skilled in the art canunderstand that the plane in the lengthwise direction of the unmannedaerial vehicle 100 is the XZ plane in FIG. 1 a . An included anglebetween the rotating shaft L1 of the lift propeller and L2 is θ. L2 is astraight line disposed on the XZ plane in a vertical direction. When θis less than 90 degrees, a force generated by rotation of the liftpropeller can be divided into a component in the vertical direction,i.e., a Z-axis direction and a component in a horizontal direction,i.e., a Y-axis direction. Correspondingly, an outwards deflectingincluded angle less than 90 degrees is provided between a rotating shaftof each of the second group of multiple lift propellers and the plane inthe lengthwise direction of the unmanned aerial vehicle 100. It shouldbe noted that the included angles between two opposite lift propellersin an X-axis direction and the XZ plane are the same. Therefore, it isensured that the rotating speeds of the lift propellers above the leftlinear supporting piece 103A and the right linear supporting piece 103Bare the same, and the unmanned aerial vehicle 100 will not yaw.

It is easily understood that θ is less than 90 degrees, so that a forcegenerated by the rotation of the lift propeller can be divided into acomponent in the vertical direction and a component in the horizontaldirection. The component in the vertical direction is used for verticaltakeoff and landing of the unmanned aerial vehicle 100. When therotating speeds of the opposite lift propellers on the left linearsupporting piece 103A and the right linear supporting piece 103B are thesame, the horizontal components generated by the lift propellers canceleach other out. When there is a rotating speed difference between theopposite lift propellers on the left linear supporting piece 103A andthe right linear supporting piece 103B, the horizontal componentsgenerated by the lift propellers are used for increasing the yawingmoment, thereby improving the heading axis control capacity, and theunmanned aerial vehicle 100 can be steered faster.

Preferably, a rotating shaft of each lift propeller from among the firstgroup of multiple lift propellers 108A, 108B, 108C, and the second groupof multiple lift propellers 108D, 108E, 108F outwards forms an angle of5 degrees to 15 degrees relative to a vertical plane of the unmannedaerial vehicle perpendicular to a horizontal plane of the unmannedaerial vehicle. Those skilled in the art can understand that θ is setwithin a range of 5 to 15 degrees. Compared with the existing art, thevertical component decreases, i.e., loss of a lift force is relativelylow, when the lift propeller rotates. It can also be ensured that theyawing moment increases. For example, θ is set within the range of 5 to15 degrees, causing that the lift force loss is 0.5 to 3%, and theyawing moment is increased by 8 to 20%. If θ is set to be 8 degrees, thelift force loss is 0.97%, and the yawing moment is increased by 13.92%.

One possible realizing mode is that the included angles between twoadjacent lift propellers in the first group of multiple lift propellersand the plane in the lengthwise direction of the unmanned aerial vehicle100 are different, i.e., the included angles between two adjacent liftpropellers at the top of the left linear supporting piece 103A and theXZ plane are different. For example, in a negative direction of the Xaxis, the included angle between the rotating shaft of the first liftpropeller and the XZ plane is 5 degrees, and the included angle of thesecond lift propeller is 10 degrees, and the included angle of the thirdlift propeller is 15 degrees. Those skilled in the art can understandthat the included angles between two adjacent lift propellers at thetops of the linear supporting pieces and the XZ plane are different. Incase that the length of the left linear supporting piece 103A does notchange, interference between adjacent lift propellers can be reduced,i.e., the structure of the unmanned aerial vehicle 100 is more compact.It is easily thought that the included angles between two adjacent liftpropellers from among the second group of multiple lift propellers andthe plane in the lengthwise direction of the unmanned aerial vehicle 100are different. In case that the length of the right linear supportingpiece 103B does not change, interference between adjacent liftpropellers can be reduced, i.e., the structure of the unmanned aerialvehicle 100 is more compact.

By the adoption of the unmanned aerial vehicle of the presentdisclosure, by means of setting the rotating shaft of each of themultiple lift propellers to outward form a certain angle θ (5 degrees to15 degrees) relative to the vertical plane of the unmanned aerialvehicle perpendicular to the horizontal plane of the unmanned aerialvehicle, the heading axis control capacity of the unmanned aerialvehicle is improved, and the restriction to the design size of theunmanned aerial vehicle is reduced.

FIG. 1 b is a front view of an implementation mode of a VTOL unmannedaerial vehicle system according to another aspect of the implementationmode. The unmanned aerial vehicle further includes a left tail fin 191Aand a right tail fin 191B. The left tail fin 191A is arranged on theupper side of the tail end of the left linear supporting piece 103A; theright tail fin 191B is arranged on the upper side of the tail end of theright linear supporting piece 103B; and a left additional lift propeller170A and a right additional lift propeller 170B are respectivelyarranged at the top ends of the left and right tail fins 191A and 191B.By means of disposing the additional lift propellers on the left andright tail fins, the overall structure is more compact, and thestructural weight is reduced, so that the cruising power is reduced, andthe endurance is increased. The rotating shaft L3 of the left additionallift propeller 170A outwards forms an angle of 5 degrees to 15 degreesrelative to the vertical plane of the unmanned aerial vehicleperpendicular to the horizontal plane of the unmanned aerial vehicle,and the rotating shaft of the left additional lift propeller 170B alsooutwards forms an angle of 5 degrees to 15 degrees relative to thevertical plane of the unmanned aerial vehicle perpendicular to thehorizontal plane of the unmanned aerial vehicle.

In one implementation mode, as shown in FIG. 1 a , FIG. 1 c , and FIG. 1d , the front and rear end parts of the main body 102 of the unmannedaerial vehicle are respectively provided with a propulsion propeller 107and a traction propeller 192. By means of pushing a motor by front andrear power, the power of the unmanned aerial vehicle is increased.

In one implementation mode, the left tail fin 191A of the unmannedaerial vehicle can be arranged at a position where the left main wingand the left supporting piece are engaged with each other, and the righttail fin 191B can be arranged at a position where the right main wingand the right supporting piece are engaged with each other. At thisposition, bases of the left and right tail fins can respectively atleast overlap the left main wing and the right main wing, and each of aleft back fin and a right back fin has a backward inclined surface. Theleft additional lift propeller 170A and the right additional liftpropeller 170B are respectively arranged at the top ends of the left andright tail fins 191A and 191B.

FIG. 1 e broadly illustrates an implementation mode of a VTOL unmannedaerial vehicle 100 with a front wing configuration.

The unmanned aerial vehicles shown in the drawings have partially samestructural configurations. Features of components of the unmanned aerialvehicles can be freely combined and configured, and the drawings areonly exemplary.

The unmanned aerial vehicle 100 shown in FIG. 1 e may have two mainwings 104A and 104B serving as the left main wing and the right mainwing, and two front wings serving as the left front wing 105A and theright front wing 105B. The two main wings 104A and 104B and the twofront wings 105A and 105B can be attached to the main body 102 which canbe positioned along a center longitudinal line of the unmanned aerialvehicle 100. There can also be a left linear supporting piece 103Aparallel to the main body 102, and the left main wing 104A can beconnected to the left front wing 105A. Similarly, there can also be aright linear supporting piece 103B parallel to the main body 102, andthe right main wing 104B can be connected to the right front wing 105B.The front wings of the unmanned aerial vehicle mainly control a flightattitude of the aerial vehicle in a flight, such as, controls pitchingof the aerial vehicle. As the biggest wings on both sides of theairframe, the main wings of the unmanned aerial vehicles are usually forgenerating a lift force to support the flight of the aerial vehicle inthe air and also play a certain role of stabilization and control.

In one implementation mode, the unmanned aerial vehicle 100 can alsohave no front wing configuration. For example, the unmanned aerialvehicle 100 can have two main wings serving as a left main wing and aright main wing, and two ailerons serving as a left aileron and a rightaileron. All these wings are engaged together to form a flight platform.

In one implementation mode, as shown in FIG. 35 , the ailerons 180 ofthe unmanned aerial vehicle can be arranged on the rear side of the mainwing 104B. There can be at least one, preferably two, sheet-like aileronthat can move up and down to control the aerial vehicle to roll over.

The left and right linear supporting pieces 103A and 103B are expectedto improve the structural integrity of the unmanned aerial vehicle 100.In other implementation modes, the left and right linear supportingpieces 103A and 103B can accommodate a driving motor (not shown) fordriving each lift propeller 108A, 108B, 108C, 108D, 108E, or 108F.Therefore, the left and right linear supporting piece 103A and 103B canbe used to fix the lift propellers, and use of unmanned aerial vehiclecomponents is reduced. When the structural components of the unmannedaerial vehicles are reduced, since the left and right linear supportingpieces 103A and 103B are engaged with the two front wings and the twomain wings, the overall intensity of the unmanned aerial vehicle canalso be enhanced. As will be disclosed later, the left and right linearsupporting pieces 103A and 103B can also accommodate folding legs 111,and each folding leg can be collected into the left and right linearsupporting pieces 103A and 103B.

In one implementation mode, the left and right linear supporting pieces103A and 103B are respectively attached to the far ends of the left andright front wings 105A and 105B. In another implementation mode, theleft and right linear supporting pieces 103A and 103B extend out of thefront wings 105A and 105B.

In one implementation mode, the left and right linear supporting pieces103A and 103B are respectively attached to positions near the middleparts of the left and right main wings 104A and 104B. In yet anotherimplementation mode, the left and right linear supporting pieces 103Aand 103B extend out of the main wings 104A and 104B.

The left linear supporting piece 103A is expected to be relativelynarrow in a diameter, and may have the first group of multiple liftpropellers 108A, 108B, 108C arranged on the top side, the bottom side orboth the top side and the bottom side of the left linear supportingpiece 103A. In one feasible implementation mode, these lift propellers108A, 108B, 108C may be driven by a low-profile motor arranged in ahollow inside of the left linear supporting piece 103A. In theimplementation mode shown in FIG. 1 e , the lift propellers 108A, 108B,108C are only arranged on the top side of the left linear supportingpiece 103A. It should be noted that the quantity of the lift propellersshown in the figures are only for illustration. The present disclosuredoes not limit the quantity. In practice, the lift propellers can beincreased and decreased according to a need. Similarly, the right linearsupporting piece 103B is expected to be relatively narrow in a diameter,and may have the second group of multiple lift propellers 108D, 108E,108F arranged on the top side, the bottom side or both the top side andthe bottom side of the right linear supporting piece 103B. In onefeasible implementation mode, these lift propellers 108D, 108E, 108F maybe driven by a low-profile motor arranged in a hollow inside of theright linear supporting piece. In the implementation mode shown in FIG.1 e , the lift propellers 108D, 108E, 108F are only arranged on the topside of the right linear supporting piece 103B. It should be noted thatthe quantity of the lift propellers shown in the figures are only forillustration. The present disclosure does not limit the quantity. Inpractice, the quantity of the lift propellers can be increased anddecreased according to a need.

As shown in FIG. 1 a -FIG. 1 d , the rotating shaft of each liftpropeller from among the first group of multiple lift propellers 108A,108B, 108C, and the second group of multiple lift propellers 108D, 108E,108F outwards forms the angle of 5 degrees to 15 degrees relative to thevertical plane of the unmanned aerial vehicle perpendicular to thehorizontal plane of the unmanned aerial vehicle. It should be noted thatFIG. 1 c and FIG. 1 d only illustrate the lift propellers 108A and 108D,and other lift propellers can be set by referring to the above two liftpropellers. The dotted line in FIG. 1 a -FIG. 1 d represents theincluded angle between the vertical plane of the unmanned aerial vehicleand the rotating shaft of the lift propeller. It can be seen that therotating shaft of the lift propeller and the vertical plane of theunmanned aerial vehicle form a certain acute angle θ. For example, theangle ranges between 5 degrees and 15 degrees.

In one embodiment, the unmanned aerial vehicle 100 further includes aleft vertical stabilizer 106B arranged at the rear part of the leftlinear supporting piece 103A and a right vertical stabilizer 106Barranged at the rear part of the right linear supporting piece 103B.Although they are shown pointing down, there can also be implementationmodes in which they point up. The vertical stabilizer is used to keepthe stability of the unmanned aerial vehicle at the flight stage.

In one embodiment, the unmanned aerial vehicle 100 further includes aleft additional lift propeller 170A arranged on a top terminal of theleft vertical stabilizer 106A and a right additional lift propeller 170Barranged on a top terminal of the right vertical stabilizer 106B. Theleft and right additional lift propellers increase the lift force of theunmanned aerial vehicle.

In one embodiment, a rotating shaft of each of the left additional liftpropeller and the right additional lift propeller outwards forms anangle of 5 degrees to 15 degrees relative to a vertical plane of theunmanned aerial vehicle perpendicular to a horizontal plane of theunmanned aerial vehicle. As such, by means of disposing the left andright additional lift propellers, a higher yawing moment can be obtainedby relatively low lift force loss, and the heading axis control capacityof the aerial vehicle in a rotor mode is improved.

In one embodiment, the rotating shafts of the left additional liftpropeller, the right additional lift propeller, and each lift propellerfrom among the first group of multiple lift propellers and the secondgroup of multiple lift propellers outwards form angles of 5 degrees to15 degrees relative to the vertical plane of the unmanned aerial vehicleperpendicular to the horizontal plane of the unmanned aerial vehicle.Similarly, as such, by means of disposing the lift propellers, a higheryawing moment can be obtained by relatively low lift force loss, and theheading axis control capacity of the aerial vehicle in a rotor mode isimproved.

In one embodiment, the rotating shafts of the left additional liftpropeller, the right additional lift propeller, and each lift propellerfrom among the first group of multiple lift propellers and the secondgroup of multiple lift propellers outwards form angles of 8 degreesrelative to the vertical plane of the unmanned aerial vehicleperpendicular to the horizontal plane of the unmanned aerial vehicle. Itshould be noted that the numerical value of the angle is only anexample. In practice, it can be substantially set to be 8 degrees. The8-degree outwards tilted propellers can avoid the interference of theairframe structure and reduce the physical dimension of rotorarrangement in case of making the gravity center of the airframe closerto a power center.

In one embodiment, the unmanned aerial vehicle further includesdetachable cabins 130, 140 attached to a bottom side of the main body.Due to the above arrangement mode, the structure of the unmanned aerialvehicle can be flexibly adjusted. Cabins can be installed according toan actual situation if necessary, and are removed if unnecessary, so asto meet different needs to flexibly use the unmanned aerial vehicle andimprove the adaptability of the unmanned aerial vehicle.

In one embodiment, the cabin is a passenger cabin 140 used to transportpassengers.

In one embodiment, the cabin is a cargo space 130 used to conveymaterial resources.

In one embodiment, the outward angle causes lift force loss of 0.5 to3%. In one embodiment, the outward angle causes a yawing moment to beincreased by 8 to 20%. In one embodiment, the outward angle causes thelift force loss of 0.97%. In one embodiment, the outward angle causesthe yawing moment to be increased by 13.92%. Although the lift force ofthe unmanned aerial vehicle of the implementation mode is lost, theyawing moment is increased, so that relatively low lift force loss canbe exchanged for a higher yaw moment, which improves the heading axiscontrol capacity of the aerial vehicle in the rotor mode.

In one embodiment, the left linear supporting piece 103A is configuredto connect the left main wing with the left front wing. The overallintensity of the airframe of the unmanned aerial vehicle can beenhanced.

In one embodiment, the ailerons and the main wings are configured to bea front wing structure. The main wing and the aileron as shown in FIG.35 may be extending plates of the front wings as shown in the figures.

A loading VTOL fixed-wing unmanned aerial vehicle includes a pluralityof groups of lift motors which are arranged on the left and right inparallel and are tilted by 8 degrees and used to realize takeoff,landing, flight and hovering. Two groups of electric propulsion motorsare located at a nose and a tail of the aerial vehicle.

An existing aircraft flying in a multi-rotor mode realizes headingcontrol by mainly depending on yawing moments generated by rotors in arotating direction. Since in a stable-state flight, the yawing momentsbetween all shafts cancel each other out. A rotating speed differencebetween the rotors in different rotating directions needs to be changedto generate resultant force of yawing. This method is low in efficiencyof generating the yawing moment. When a power output is saturated or isnearly saturated, a relatively high lift force will be lost to generatean enough rotating speed difference. After the lift motors of theunmanned aerial vehicle of the present disclosure arranged on the leftand right in parallel are outwards tilted 8 degrees, the lift force lossis) 1−cos(8°)=0.97%, and the additional yawing moment caused by tiltingis increased by) sin(8°)=13.92%. Therefore, a higher yawing moment canbe exchanged by relatively low lift force loss, and the heading axiscontrol capacity of the aerial vehicle in the rotor mode is improved.

The 5 to 15-degree, preferably 8-degree, outwards tilted rotorpropellers can avoid the interference of the airframe structure andreduce the physical dimension of rotor arrangement in case of making thegravity center of the airframe closer to a power center. Thisarrangement mode can greatly improve the heading control capacity of theloading VTOL unmanned aerial vehicle nearly without losing the liftforce, and effectively control the size of the airframe. Therefore, bymeans of a power layout method using the plurality of groups of8-degrees outwards tilted lift motors arranged on the left and right inparallel and 2 groups of propulsion motors on the VTOL unmanned aerialvehicle, the problem of low heading axis control capacity with a highload is solved, and the problem of interference of the airframestructure of the VTOL unmanned aerial vehicle is solved. The overallsize is controlled, i.e., the heading axis control capacity of theunmanned aerial vehicle of the present disclosure is improved, and therestriction to the design size of the unmanned aerial vehicle isreduced.

The unmanned aerial vehicle 100 can have at least one propulsionpropeller to push the unmanned aerial vehicle 100 in a forwarddirection. In one implementation mode as shown in FIG. 1 e , there canbe two propulsion propellers 107A and 107B. The two propulsionpropellers 107A and 107B may be respectively arranged on the far ends ofthe rear parts of the linear supporting pieces 103A and 103B.

In another implementation mode, in the implementation mode as shown inFIG. 31 , the flight platform 101 may have no propulsion propeller. Inthis implementation mode, the flight platform 101 can be attached to thepassenger cabin or the cargo space, and the passenger cabin or the cargospace is provided with a propulsion propeller. FIG. 32 illustrates animplementation mode of a passenger cabin provided with a propulsionpropeller at its rear end. When the passenger cabin is attached to theflight platform 101 of FIG. 31 , the propulsion propeller forwardspushes the flight platform 101.

Two vertical stabilizers 106A and 106B can be respectively provided nearthe rear ends of the linear supporting pieces 103A and 103B. Althoughthey are shown pointing down, there can also be implementation modes inwhich they point up.

In another implementation mode, the main wings 104A, 104B can each havea wing tip lift propeller 109A, 109B arranged at their far ends, i.e.,the end parts away from the main body 102. This can be realized byrespectively providing wing tip vertical stabilizers 110A, 110B at thefar ends of the main wings 104A, 104B and providing the lift propellers109A, 109B at the upper tip ends of each of the wing tip verticalstabilizers 110A, 110B. It is defined here that the end part of the leftmain wing 104A is a left wing tip vertical stabilizer 110A and the endpart of the right main wing 104B is a right wing tip vertical stabilizer110B. For example, the left wing tip vertical stabilizer 110A and theright wing tip vertical stabilizer 110B are of platy structures parallelto the XZ plane. These wing tip lift propellers 109A, 109B can besmaller than the lift propellers arranged on the linear supportingpieces 103A, 103B.

These wing tip lift propellers 109A, 109B can be used to effectively andefficiently control the unmanned aerial vehicle 100 to roll over. Thesewing tip lift propellers 109A, 109B are located at the farthest endsaway from the center axis of the unmanned aerial vehicle 100. It iseffective to adjust the rollover of the unmanned aerial vehicle 100, andwing tip lift propellers with diameters less than the diameters of otherlift propellers can be used.

Preferably, the rotating shaft of the wing tip lift propeller outwardsdeflects 5 to 15 degrees relative to the plane, i.e., the XZ plane, inthe lengthwise of the unmanned aerial vehicle 100. It is easilyunderstood that the rotating shaft of the wing tip lift propelleroutwards deflects 5 to 15 degrees relative to the XZ plane, so that whenthe rotating speeds of the wing tip lift propellers above the left mainwing 104A and the right main wing 104B are different, i.e., when theunmanned aerial vehicle 100 rolls over, a rolling moment generated bythe wing tip lift propellers is increased, and the unmanned aerialvehicle 100 is easily controlled to roll over.

As further shown in FIG. 1 e , there is a cabin 130 usually attachedbelow the main body 102 of the unmanned aerial vehicle 100.

Now referring to the details of FIG. 2 , the unmanned aerial vehicle 100is expected to be used as any type of undercarriages. In oneimplementation mode, the unmanned aerial vehicle 100 has four singleblade reeds 112A, 112B, 112C, 112D serving as undercarriages. The twosingle blade reeds 112A, 112C in the front are respectively arranged atthe far ends of the folding legs 111A, 111B. During the flight, thefolding legs 111A, 111B can respectively retract into internal spaces ofthe left and right linear supporting pieces 103A and 103B.

The two single blade reeds 112B, 112D at the back are expected to berespectively arranged at the far ends of the bottoms of the verticalstabilizers 106A, 106B.

The expected single blade reeds 112A, 112B, 112C, 112D can be made of aproper material to provide sufficient elasticity and integrity. Thismaterial includes natural and synthetic polymers, various metal andmetal alloy, natural materials, textile fiber, and all other reasonablecombinations. In one implementation mode, carbon fiber is used.

Now referring to FIG. 3 , a cabin serving as a cargo space 130 isillustrated. The cargo space 130 can have single blade reeds 135A, 135B,135C, 135D serving as its undercarriages. Or, the cargo space can haveother types of undercarriages, such as sliding rails, leg racks andwheels.

In an expected implementation mode, the cargo space 130 can be removedfrom other parts of the unmanned aerial vehicle 100. The other part ofthe unmanned aerial vehicle can be referred to as the flight platform101. The flight platform 101 can fly without a cabin, and caninterchangeably carry different cabins. As described later, the flightplatform 101 can also carry a passenger cabin.

In the illustrated examples, all the cabins 130, 140 are carried belowthe flight platform 101. It is expected to load the cabins 130, 140 onthe ground, and the loading process can be completed before or after theflight platform 101 is attached to the cabins 130, 140.

FIG. 5 illustrates a top view of the flight platform 101. The flightplatform may have a substantially flat structure and can carry a loadbelow or above. During a high-speed flight, all the six lift propellers108A, 108B, 108C, 108D, 108E, 108F can be locked in place, so that eachblade is parallel to the main body 102.

FIG. 5 illustrates one implementation mode of the flight platform 101.The length of each front wing 105A, 105B is not greater than half of thelength of each of the main wings 104A, 104B.

FIG. 6 broadly illustrates a front view of the flight platform 101having a detachably attached cargo space 130. The cargo space 130, thepassenger cabin 140 or any other type of load is particularly expectedto have energy storage cell 150 arranged in the main body 102 of theflight platform. Stored energy can be used to supply power to othercomponents of the flight platform, such as the lift propellers 108A,108B, 108C, 108D and the propulsion propellers 107A, 107B. The storedenergy may be electricity, and the storage cell may be a battery. Inanother implementation mode, the energy storage cell 150 may be used tosupply power to accessories in the cabins 130, 140.

These batteries 150 may also be arranged in other components of theflight platform 101, such as the linear supporting pieces 103A, 103B.

Alternatively or optionally, there may be energy storage cells 155arranged in the cabins 130, 140. Energy stored in the storage cells 155can be used to supply power to the lift propellers 108A, 108B, 108C,108D and the propulsion propellers 107A, 107B. The stored energy may beelectricity, and the storage cell may be a battery. The cabins 130, 140have the energy storage cells 155, so that the flight platform 101 willhave supplemented energy source whenever it picks up new cabins 130,140. The flight platform 101 itself may be an emergency energy storageor a low-capacity battery 150. When the flight platform 101 flieswithout cabins 130, 140, power is supplied to the flight platform 101within relatively short time. In one implementation mode, main power ofthe flight platform 101 is from the batteries 150 located in the cabins130, 140. In such a mode, when the old cabins 130, 140 on the flightplatform 101 are replaced by new cabins 130, 140, the flight platform101 or the whole VTOL unmanned aerial vehicle system 100 will have acompletely rechargeable energy source. This is a beneficial method, sothe VTOL unmanned aerial vehicle does not need to charge itself. In apreferred implementation mode, the flight platform 101 can continuouslywork/fly several hours and even several days, pick up cargospaces/passenger cabins, and disboard the cargo spaces/passenger cabinswithout stopping to charge its battery.

Now referring to the details of FIG. 7 , a passenger cabin 150 isprovided. The passenger cabin 150 can use any type of undercarriage,such as a rigid leg 145A, 145B, 145C, 145D as shown in the figures.

FIG. 10 broadly illustrates one aspect of the present disclosure. Acabin (either a cargo space or a passenger cabin) is detachable. Thepassenger cabin 140 can be selectively separated from the flightplatform 101. Engagement and disengagement between the flight platform101 and the cabin 140 can be executed autonomously by a computer and/orother sensors and computing devices (no user's intervention is needed).Alternatively or optionally, a user can actively control and guide theengagement and disengagement between the flight platform 101 and thecabin 140.

Those of ordinary skill in the art can know that various different typesof engaging mechanisms 147 can be used to fix the cabin 140 to theflight platform 101. For example, the engaging mechanism can be amechanical lock catch, a mechanical lock catch, a track and a groove, ora combination of any known engaging modes.

It is important to understand that alternatively or optionally, therecan be one center propulsion propeller 117 connected to the rear end ofthe main body 102 (as shown in FIG. 12 ) besides the two propulsionpropellers 107A and 107B (as shown in FIG. 11 ). As shown in FIG. 12 ,the center propulsion propeller 117 is engaged to the rear end of themain body 102 through a vertical expander 116. The vertical expander 116may be of any structure in any shape, so as to be physically engagedwith the propulsion propeller 117, so that a rotating center of thepropulsion propeller 117 perpendicularly deflects away from the mainbody 102. In another implementation mode, the propulsion propeller 117perpendicularly deflects away from the main body 102, so that therotating center of the propulsion propeller 117 is perpendicularlylocated at the rear part of the cabin 140 or is perpendicularly flushwith the cabin 140. In another implementation mode, the propulsionpropeller 117 is perpendicularly flush with the top of the cabin 140. Inanother implementation mode, the propulsion propeller 117 isperpendicularly flush with the middle part of the cabin 140. In afurther implementation mode, the propulsion propeller 117 isperpendicularly flush with the bottom of the cabin 140.

What is not shown in any figure of the implementation mode is that theend parts of linear supporting pieces 103A and 103B are provided with nopropulsion propellers 107A and 107B respectively. On the contrary, thereis only one propulsion propeller 117 engaged with the rear end of themain body 102.

It can also be imaged that each linear supporting piece 103A, 103B caninclude three or more lift propellers. A relatively long linearsupporting piece is provided to accommodate more lift propellers. A liftpropeller with a relatively small diameter is used, or lift propellersare placed on both the top sides and the bottom sides of the linearsupporting pieces. FIG. 13 illustrates one implementation mode. Twoextra lift propellers 108G, 108H are arranged at the front ends of thebottoms of the linear supporting pieces 103A, 103B.

Although the propulsion propellers 107A and 107B have been shown in theprevious figures and are located at the far ends of the rear parts ofthe linear supporting pieces 103A and 103B, it is specifically expectedthat these propellers 107A and 107B may be located below the horizontalplanes of the main wings 104A and 104B, as shown in FIG. 13 . In oneaspect, these propulsion propellers 107A, 107B may be arranged on thehorizontal planes of the cabins 130, 140 carried by the flight platform.In another aspect, these propulsion propellers 107A, 107B may bearranged in the middles of the vertical stabilizers 106A, 106B. Oneexpected reason for lowering the positions of the propulsion propellers107A, 107B is that the head dipping effect during the flight isminimized. The head dipping effect is possibly caused by theaerodynamical effect caused by the cabins 130, 140.

FIG. 14 to FIG. 30 illustrate implementation modes that the flightplatform 101 or the cabin 130, 140 or both of them have an electricwheel 148 attached to it. In the implementation mode of FIG. 14 , theflight platform 101 has an electric wheel 148. The cabin 130, 140 alsohas an electric wheel. Now referring to the implementation mode of FIG.15 , the single electric wheel 148 can have a motor sealed in a shell149, and the motor can be driven by the power supplied by the energystorage cell 150 arranged in the cabin 130, 140.

It is imagined that the electric wheel 148 can enable the flightplatform 101 and the cabin 130 to move on the ground when landing on theground. This allows the cabin 130, 140 to move away from the flightplatform 101 and allows another cabin 130, 140 to move to the flightplatform 101 for engagement.

Or, this can allow the flight platform 101 to move away from the cabin130 towards another cabin for engagement. In one implementation mode,each cabin 130, 140 can have an energy storage cell 155, so that whenthe flight platform 101 is engaged with a new and fully charged cabin130, 140, the flight platform 101 is basically supplemented with itsenergy source.

In some implementation modes of the disclosed unmanned aerial vehiclesystem, at least one floating device 160 can be provided, which isengaged with at least one of the cargo space 130, the passenger cabin140, and the flight platform 101. The floating device may be a typeneeding to be actuated. That is, the floating device is activelyinflated with air or a material if necessary. In other words, in aparticular implementation mode, the floating device 160 may be kept in adeflated state, and swells when inflation is triggered under certainconditions. For example, the floating device 160 can be automaticallyinflated during emergency landing, and can be automatically inflatedduring water landing. When any undercarriage fails in certain aspects,the floating device can be inflated.

Many known types of inflating mechanisms or air bag mechanisms can beimplemented to realize the need and structure of the floating device 160disclosed. The expected floating device 160 can be of a type that can berepeatedly reused, re-inflated, and re-deflated. The expected floatingdevice 160 can also be disposable.

Alternatively or optionally, the inflating behavior can be activated bya user. For example, when an operator of the unmanned aerial vehiclesystem determines to inflate the floating device 160, the operator cansend a signal to initiate inflation.

In some implementation modes, it should be particularly noted that hefloating device 160 does not need to have an electric wheel 148. Inother implementation modes, the floating device 160 is one part of theshell of the electric wheel 148.

As an example, referring to FIG. 26 , the passenger cabin 140 can havean elongated floating device 160 arranged on either side of the cabin140 and can be used as a water undercarriage. In FIG. 26 , thesefloating devices 160 are deflated. FIG. 32 illustrates a side view ofthe deflated floating device 160. As shown in FIG. 33 and FIG. 34 , thefloating device 160 engaged with the passenger cabin 140 is inflated.

As another example, referring to FIG. 31 , the flight platform 101 canhave four floating devices 160 arranged at the tops of four electricwheels 148. These floating devices 160 at other positions can bealternatively attached to the electric wheels 148 or positions close tothe electric wheels 148. In FIG. 31 , these floating devices 160 engagedwith the electric wheels 148 are deflated. FIG. 33 and FIG. 34illustrate the inflated floating devices 160 of the flight platform 101.

Without departing from the spirit and scope of the disclosedimplementation modes, those of ordinary skill in the art can make manychanges and modifications. Therefore, it must be understood that theillustrated implementation modes are presented for illustrative purposesonly, and should not be construed as limiting the implementation modesdefined by the appended claims. For example, despite the fact that theelements of the claims are set forth below in a certain combination, itmust be clearly understood that the implementation mode includes othercombinations of fewer, more or different elements, which are disclosedherein, even if such combinations are not limited at the beginning.

Therefore, specific implementation modes and applications of a VTOLflight platform with interchangeable cabins have been disclosed.However, it is obvious to those skilled in the art that moremodifications other than those already described are possible withoutdeparting from the concepts disclosed herein. Therefore, the disclosedimplementation modes are not limited except for the spirit of theappended claims. In addition, during explanation of the specificationand claims, all terms should be interpreted in the broadest possiblemanner consistent with the context. In particular, the terms “include”and “including” should be interpreted as citing elements, components, orsteps in a non-exclusive manner, indicating that the cited elements,components, or steps may exist, or be utilized, or be combined withother elements, components or steps that are not explicitly cited.Insubstantial changes in the claimed subject that are now known or laterexpected to be seen by those of ordinary skill in the art are clearlyexpected to be equivalent within the scope of the claims. Therefore,obvious substitutions now or later known to those of ordinary skill inthe art are defined as being within the scope of the defined elements.Therefore, the claims should be understood to include the contentspecifically illustrated and described above, the content that isconceptually equivalent, the content that can be obviously replaced, andthe content that basically contains the basic ideas of theimplementation modes. In addition, in the case where the specificationand claims involve at least one of the group consisting of A, B, C . . .and N, the text shall be interpreted as requiring at least one elementin the group, including N, instead of A and N, or B and N, etc.

What is claimed is:
 1. A method of flight control in a vertical takeoffand landing aerial vehicle, said method comprising: providing a mainbody; providing a left main wing and a right main wing which arerespectively engaged with the main body; providing a left front wing anda right front wing which are respectively engaged with the main body;providing a left linear supporting piece arranged on the left main wing;providing a right linear supporting piece arranged on the right mainwing; providing a first group of multiple lift propellers arranged onthe left linear supporting piece; and providing a second group ofmultiple lift propellers arranged on the right linear supporting piece;wherein an outwards deflecting included angle less than 90 degrees isprovided between a rotating shaft of each of the first group of multiplelift propellers and a plane in a lengthwise direction of the aerialvehicle; and an outwards deflecting included angle less than 90 degreesis provided between a rotating shaft of each of the second group ofmultiple lift propellers and the plane in the lengthwise direction ofthe aerial vehicle; wherein the included angles between the rotatingshaft of each lift propeller from among the first group of multiple liftpropellers and the second group of multiple lift propellers and theplane in the lengthwise direction of the aerial vehicle is 5 degrees to15 degrees; and wherein the included angles between two adjacent liftpropellers in the first group of multiple lift propellers and the planein the lengthwise direction of the aerial vehicle are different, and theincluded angles between two adjacent lift propellers in the second groupof multiple lift propellers and the plane in the lengthwise direction ofthe aerial vehicle are different.
 2. The method as recited in claim 1,providing a left wing tip vertical stabilizer disposed at an end part ofthe left main wing away from the main body; providing a right wing tipvertical stabilizer at an end part of the right main wing away from themain body.
 3. The method as recited in claim 2, providing a left wingtip propeller disposed on a top end of the left wing tip verticalstabilizer; and providing a right wing tip propeller disposed on a topend of the right wing tip vertical stabilizer.
 4. The method as recitedin claim 2, wherein one of the included angles between the rotatingshaft of each lift propeller from among the first group of multiple liftpropellers and the plane in the lengthwise direction of the aerialvehicle is 8 degrees.
 5. The method as recited in claim 2, wherein oneof the included angles between the rotating shaft of each lift propellerfrom among the second group of multiple lift propellers and the plane inthe lengthwise direction of the aerial vehicle is 8 degrees.
 6. Themethod as recited in claim 5, further providing a cabin coupled to abottom side of the main body.
 7. The method as recited in claim 6,wherein the cabin is detachably attached to the bottom side of the mainbody.
 8. The method as recited in claim 6, wherein the cabin is apassenger cabin.
 9. The method as recited in claim 6, wherein the cabinis a cargo cabin.
 10. The method as recited in claim 6, providing theleft linear supporting piece to connect the left main wing to the leftfront wing.